CN116890688A - Electric automobile charging method based on shared electric automobile operators - Google Patents
Electric automobile charging method based on shared electric automobile operators Download PDFInfo
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
Abstract
The invention belongs to the field of electric vehicle charging, and relates to an electric vehicle charging method based on a shared electric vehicle operator, which comprises the following steps: 1) Acquiring input current flowing to a branch charging pile from a charging pile system; 2) Obtaining an input reference voltage of the branch charging pile according to an input current flowing to the branch charging pile from the charging pile system; 3) Acquiring a reference voltage offset of the electric automobile in the charging process; 4) Correcting the input reference voltage of the branch charging pile according to the reference voltage offset of the electric automobile in the charging process, and obtaining the injection voltage of the branch charging pile for charging the electric automobile; 5) And charging the electric vehicles with different residual electric quantities according to the injection voltage of the branch charging piles for charging the electric vehicles. The invention provides the electric vehicle charging method based on the shared electric vehicle operators, which is convenient for the batch charging operation of the operators of the shared electric vehicles and can reduce the power loss on the branch line resistance.
Description
Technical Field
The invention belongs to the field of electric vehicle charging, relates to an electric vehicle charging method, and particularly relates to an electric vehicle charging method based on a shared electric vehicle operator.
Background
With the progress of society, automobiles are used as an irreplaceable transportation means and are more indispensible from people's daily lives. However, due to the importance of people on the environment, the application specific gravity of various clean energy sources is increased, and the popularization range of electric automobiles is gradually increased. First, electric vehicles have zero emission characteristics because they are driven using batteries instead of fuel, reducing negative environmental impact, contributing to improved air quality and reduced greenhouse gas emissions. Secondly, electric vehicles are also more advantageous in terms of energy efficiency, which is higher than conventional vehicles, meaning that they can more efficiently convert energy into mileage. In addition, electric vehicles have low noise and lower operating costs, because the electric motor is simpler and more reliable than a conventional engine. With the continuous progress of technology, the electric automobile can be combined with renewable energy sources and intelligent power grids, so that sustainable development of energy sources is promoted. Therefore, the electric automobile has very wide application prospect in the future, including the fields of urban traffic, personal use, taxi service, logistics transportation and the like.
The charging demand of a large-scale electric vehicle may lead to an increase in grid load, especially during peak hours. This may cause a risk of overload of the grid, which requires upgrades to the grid to increase the power supply capacity. Second, concentrated charging may lead to an uneven distribution of energy in parts of the grid. If a large number of electric vehicles are charged at the same time and place, the situation that the energy demand is too high may occur, and intelligent management and scheduling are needed to balance the supply and demand. However, due to the randomness of charging the electric automobile and the problem of line impedance in the transmission of the power grid line, the conventional power sharing strategy (such as droop control) is difficult to perform accurate power distribution on the reference voltage of each node, and meanwhile, the problem of voltage drift caused by droop control can be guaranteed to be counteracted.
Based on the charging characteristics of the shared electric automobile, manufacturers often hope that the electric automobiles in the same batch are charged simultaneously when charging the large-scale shared electric automobile, and the electric automobiles are convenient to replace. In the same batch of electric automobiles, the residual electric quantity is often different, so that for a charging village system with constant maximum output power, the charging power of each branch is reasonably designed, and the charging automobiles with different initial values can be fully charged at the same time on the premise of maximally utilizing the output power of the charging pile as much as possible, thereby being convenient for batch operation of staff.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides the electric vehicle charging method based on the shared electric vehicle operator, which is convenient for the batch charging operation of the operators of the shared electric vehicle and can reduce the power loss on the branch line resistance.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
an electric automobile charging method based on a shared electric automobile operator is characterized by comprising the following steps of: the electric vehicle charging method based on the shared electric vehicle operator comprises the following steps:
1) Acquiring input current flowing to a branch charging pile from a charging pile system;
2) Obtaining input reference voltage of the branch charging pile according to the obtained input current flowing to the branch charging pile by the charging pile system in the step 1);
3) Acquiring a reference voltage offset of the electric automobile in the charging process;
4) Correcting the input reference voltage of the branch charging pile obtained in the step 2) according to the reference voltage offset of the electric automobile obtained in the step 3) in the charging process, and obtaining the injection voltage of the branch charging pile for charging the electric automobile;
5) And charging the electric vehicles with different residual electric quantities according to the injection voltage of the branch charging piles for charging the electric vehicles.
Preferably, the expression adopted in step 1) of the present invention of the input current flowing from the charging pile system to the branch charging pile is:
，
wherein:representing an input current flowing from the charging pile system to the ith charging power controller; />Representing the input voltage of the branch charging pile; />Representing an output voltage of the charging pile system; />Representing the leg impedance of the i-th leg of the charging leg system.
Preferably, the specific implementation manner of the step 2) adopted by the invention is as follows:
2.1 A distributed voltage observer of the charging pile system is constructed; the distributed voltage observer of the charging pile system comprises distributed voltage observers of a plurality of branch charging piles;
2.2 Obtaining a reference value after voltage adjustment of the distributed voltage observer according to the distributed voltage observer of the branch charging pile；
2.3 A) obtaining the reference value according to step 2.2)And step 1) obtaining the obtained input reference voltage of the branch charging pile by the obtained input current flowing to the branch charging pile by the charging pile system.
Preferably, the expression of the distributed voltage observer of the branch charging pile in step 2.1) adopted by the invention is:
，
wherein:representing individual distributed voltage observer frequencies within a charging pile systemA set of domains, said->The expression of (2) is: />，TIs a transpose of the matrix; for->Any element in (a) is +.>S is a pulling type conversion factor of a frequency domain of the voltage observed by the distributed voltage observer, i is more than or equal to 1 and less than or equal to M, and j is more than or equal to 1 and less than or equal to M;
the expression of the voltage observed by the distributed voltage observer in consideration of communication delay is as follows:wherein: />Representing the input voltage of the branch charging pile; />Is the input voltage of the charging power controller in the branch charging pile observed on the ith distributed voltage observer; />Representing the communication time delay between the charging piles of different branches; t represents time;
representing the actual input voltage of each branch charging pile in the charging pile system, said +.>The expression of (2) is: />；
Representing a Laplacian matrix with a time delay, said +.>The expression of (2) is: />For each element in the Laplace matrix, +.>Representing the communication weight, is generally set to be 1, and when the ith branch charging pile and the jth branch charging pile have a communication relationship>Otherwise->；
An integration element representing the time delay, said +.>The expression of (2) is: />For->Any one element is expressed as->。
Preferably, the reference value after voltage adjustment of the distributed voltage observer in step 2.2) employed in the present inventionThe expression of (2) is:
，
wherein:representing the voltage value set by the branch charging pile; />Representing the input voltage of the charge power controller in the branch charge pile observed on the i-th distributed voltage observer.
Preferably, when the branch charging pile in step 2.3) is adopted to charge the electric automobile, the expression of the input reference voltage of the charging power controller is as follows:
，
wherein:representing an input reference voltage of the branch charging pile; />Representing a reference value after the distributed voltage observer voltage adjustment; />Representing the sag factor.
Preferably, the expression of the reference voltage offset of the electric automobile in the step 3) adopted by the invention in the charging process is as follows:
，
wherein:a reference voltage offset representing an ith charge speed offset factor; />Representing the weight of the communication matrix; />Represents the electric quantity of the i-th rechargeable car and +.>；/>Representing the electric quantity of the jth rechargeable automobile; i represents an ith branch charging pile; />A set of communication networks representing a communication relationship with an ith charged car; j represents a branch charging stake adjacent to the ith branch charging stake;
wherein:the expression of (2) is: />，
Wherein:representing the initial electric quantity of the ith charging automobile; />Representing the current flowing from the i-th branch charging pile to the charging car; />Representing the battery capacity of the ith charged car; />Indicating the ith leg charge stake.
Preferably, the expression of the injection voltage for charging the electric automobile by the corrected branch charging pile in the step 4) adopted by the invention is as follows:
，
wherein:representing an input reference voltage of the branch charging pile; />Representing a reference value after voltage adjustment of the distributed voltage observer; />Representing an input current flowing from the charging pile system to the ith charging power controller; />Representing a sag factor; />The reference voltage offset representing the ith charge rate offset factor.
The invention has the advantages that:
the invention provides an electric vehicle charging method based on a shared electric vehicle operator, which comprises the following steps of 1) obtaining input current flowing to a branch charging pile from a charging pile system; 2) Obtaining input reference voltage of the branch charging pile according to the obtained input current flowing to the branch charging pile by the charging pile system in the step 1); 3) Acquiring a reference voltage offset of the electric automobile in the charging process; 4) Correcting the input reference voltage of the branch charging pile obtained in the step 2) according to the reference voltage offset of the electric automobile obtained in the step 3) in the charging process, and obtaining the injection voltage of the branch charging pile for charging the electric automobile; 5) And charging the electric vehicles with different residual electric quantities according to the injection voltage of the branch charging piles for charging the electric vehicles. The charging method provided by the invention can enable the shared electric automobile operators to charge the electric automobiles with different electric quantities in batches, and reasonably distribute the input power of each branch charging pile, when the electric automobiles with different initial values of the batteries are charged simultaneously, the charging power of the electric automobiles with lower battery capacity can be increased, the charging capacity of the electric automobiles with higher battery capacity can be reduced, when the electric quantities of the electric automobiles in one charging pile are equal, the charging power of the charging pile to each branch can be reasonably distributed, so that all the electric automobiles in one charging pile system can be charged simultaneously, and the batch operation of the operators of the shared electric automobiles is more convenient. Meanwhile, the designed voltage observer can reduce the voltage of each branch charging interface, and reduce the current transferred between the charging branches as much as possible, so that the power loss on the branch resistors can be reduced. Obviously, the electric vehicle charging method based on the shared electric vehicle operator provided by the invention can adjust the output power of the electric vehicle by controlling the output power of the charging power controller for the electric vehicles with different electric quantities in the same charging pile system. The adoption of the distributed voltage observer can enable the voltage observed value to be converged to the set value, and the actual value can be different according to the different line impedance, but the average value of the adjacent branches is ensured to be equal to the set value. In addition, the invention can ensure that the observed voltage of the observer is output to the set value to offset the voltage deviation effect caused by sagging control, and finally, the charging input voltages of different charging power controllers in the same branch charging pile can be controlled near the set value of the charging pile by combining the distributed voltage observer.
Drawings
Fig. 1 is a topology structure of an electric car charging pile according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an electric vehicle branch charging pile and a charging power controller structure according to an embodiment of the present invention;
FIG. 3 is a flow chart of a control algorithm according to one embodiment of the present invention;
FIG. 4 is a diagram showing charge levels of three different initial values of a charging car according to an embodiment of the present invention;
FIG. 5 shows the actual input voltages of three branch charging piles according to one embodiment of the present invention;
FIG. 6 is a graph showing voltages on voltage observers of three branch charging piles in one embodiment of the present invention;
fig. 7 illustrates power loss in line impedance of three branch charging posts in one embodiment of the invention.
Detailed Description
The invention will be further illustrated, but is not limited, by the following examples.
The invention provides an electric vehicle charging method based on a shared electric vehicle operator, as shown in fig. 1, a plurality of (supposedly M) different branch charging piles are connected in parallel in the same charging pile system, and the branch impedance (caused by construction deviation) on each branch charging pile of the charging pile system is considered to be different, and line impedance exists between the branch charging piles. Each branch charging pile is used for controlling the charging speed of the electric automobile by a charging power controller. The core idea of the invention is to indirectly control the charging power of the branch power controller by modifying the input voltage of the branch charging power controller.
Step 1, during charging, the charging pile system is connected to the main network, so that the output voltage given to the branch charging pile by the charging pile system can be basically considered constant, and the input current flowing to the branch charging pile can be expressed as:
（1）
wherein, the liquid crystal display device comprises a liquid crystal display device,representing an input current flowing from the charging pile system to the ith charging power controller; />Representing the input voltage of the branch charging pile; />Representing an output voltage of the charging pile system; />Representing the branch impedance of the ith branch charging pile;
step 2, controlling the duty ratio of the charging power controller and further controlling the charging rate of the charging power controller, wherein the droop control determines:
（2）
wherein, the liquid crystal display device comprises a liquid crystal display device,input reference voltage indicative of branch charging pile, < ->Representing sagging coefficient, < >>Representing a reference value after voltage regulation by the distributed voltage observer, wherein +>The specific expression of (2) is: />（3）
Wherein:the voltage value set by the branch charging pile is indicated, the charging is generally 380V, and the voltage value can be changed within a reasonable range according to the requirements of operators; />Representing the input voltage of the charging power controller in the branch charging pile observed on the ith distributed voltage observer;
step 3, by constructing a distributed voltage observer to observe local voltages, and making the local voltage of each branch charging pile equal to the actual voltage of the distributed voltage observer, so that small differences exist in the output voltages among different branch charging piles within a reasonable range, and voltage offset effects caused by sagging control can be offset, so that consumption of current on line impedance is reduced, and the output voltages of the charging power controllers in the branch charging piles observed on the distributed voltage observer are assumedFrom the following componentsThe voltage observer is designed to:
（4）
wherein, the liquid crystal display device comprises a liquid crystal display device,the distributed voltage observer designed according to the method can reach the convergence without being influenced by the communication time delay; t refers to time; />Representing an input voltage to the ith charge power controller;
performing a frequency domain pull-down transform on equation (4) to obtain a frequency domain representation of the distributed voltage observer:
（5）
wherein s is a factor after the pull-type transformation;
thus, a distributed voltage observer expression for the entire charging pile system can be derived:
（6）
in the above-mentioned method, the step of,representing a set of distributed voltage observers within a charging pile system +.>Representing the actual input voltage of each branch charging pile in the charging pile system, +.>Representing the content of time delayIs described, and for each element in the Laplace matrix ++>Representing the communication weight, is generally set to be 1, and when the ith branch charging pile and the jth branch charging pile have a communication relationship>Otherwise->，/>An integration element representing the time delay, wherein the element is expressed as +.>。
The distributed voltage observer can counteract the problem of communication delay to achieve convergence effect, and will be described in the followingThe Laplace matrix in the formula (6), i.e. Ls, is subjected to Taylor expansion at the point 0, and the expanded expression is shown in the formula 7:
（7）
wherein, the liquid crystal display device comprises a liquid crystal display device,representing the n-term expansion of the laplace matrix.
And calculating a final value theorem on the steady state value of the distributed voltage observer to obtain:
（8）
wherein as in the foregoing, the content of the liquid,representation scoreA set of cloth-type voltage observers, +.>Representing the eigenvector corresponding to the eigenvalue 0 in the laplace matrix, < >>Representing the actual value of the branch charging pile, for any sign +.>，/>Represents->Is a stable value of (c). Therefore, the distributed voltage observer designed by the invention can counteract the problem of unbalanced output power of the branch charging piles caused by different impedance of the branch charging piles and different line impedance. The final value theorem indicates that the final convergence value of the distributed voltage observer is a parameter which does not contain transmission delay, and the final convergence value of the distributed voltage observer is not affected by communication transmission delay.
According to the distributed voltage observer adopted by the invention, each total charging pile is connected with a plurality of branch charging piles, and each branch charging pile is used for charging the electric automobile. The distributed voltage observer adopted by the invention is used as a state observer, so that the problem of set value conflict caused by line impedance and charging power change can be effectively solved (namely, when the input voltage of all branch charging piles is 380V, the charging power of all branch charging piles is actually determined, however, under the control of the distributed voltage observer, the average value of the actual voltage values of all branch charging piles is equal to the observed value of the distributed voltage observer, the conflict between the line impedance and the set value is solved (in a direct current circuit, the voltage is determined, the output power is determined, if the voltage is completely adjusted to a reference value, the power cannot be controlled, and if the power is required to be controlled, the actual output voltage of all branch charging piles cannot be completely tracked to the reference voltage), meanwhile, the input voltage of different branch charging piles is reduced, and the power loss of the branch charging piles is reduced. The electric automobile charging method based on the consistency algorithm can enable the electric automobile in each branch charging pile to complete the charging process at the same time. In addition, the charging method provided by the invention is very suitable for the charging characteristic of 'plug and play' of the electric automobile.
Step 4, designing a power distribution strategy based on a consistency algorithm, wherein the model of the electric automobile can be simplified into a fuel cell, and therefore, the capacitance of the battery can be expressed as:
（9）
wherein:representing the charge of a rechargeable car and +.>，/>Indicating the initial charge of the ith charged car, < >>Indicating the current flowing from the i-th branch charging post to the charging car,/>Indicating the battery capacity of the ith charged car, subscript +.>Indicating the ith leg charge stake.
And 5, adjusting the input voltage of the charging power controller in the branch charging pile, wherein the detailed structure of the branch charging pile is shown in fig. 2, and controlling the charging speed of the electric automobile in the branch charging pile by controlling the injection voltage of the branch charging power controller. The control algorithm is shown in figure 3, and the PI controller controls the charging power controller of the branch charging pile to achieve the same charging and discharging speeds. The consistency algorithm is combined, and is known from the formula (9). To achieve consistent battery charge rates for each of the charged automobiles, the following relationship needs to be satisfied:
（10）
wherein the method comprises the steps ofRepresenting a set of charged car power amounts, L representing a laplace matrix.
Step 6, according to the charge power controller of the electric automobile in the charge of fig. 3, the output voltage reference value of the charge power controller of the branch charge pile obtained by sagging control and the actual error of the voltage, the PI controller of the voltage loop obtains the input current of the electric automobile:
（11）
wherein:a reference output current representative of the vehicle to be charged; />Representing an input reference voltage of the branch charging pile; />Representing the input voltage of the branch charging pile; />Representing the transfer function of the voltage loop PI controller.
And 7, tracking the reference output current of the automobile to be charged by a current loop PI controller at the side of the electric automobile, and generating a duty ratio by a PWM pulse generator to control the output power of a charging power controller so as to control the charging speed of the electric automobile.
Step 8, constructing a charge rate offset function of the electric automobile according to a consistency algorithm principle of a formula (9), and combining a formula (10) and a formula (11) to know that if the offset is added to a reference voltage at the input side of the charging pile, a reference value of the output current of the electric automobile can be obtained after the adjustment of the PI controller, so that the offset of the output power of the electric automobile is designed to be:
（12）
wherein the method comprises the steps ofReference voltage offset representing the ith charge rate offset factor, +.>Weight of communication matrix->A set of communication networks representing a communication relationship with an ith charged car; />Represents the electric quantity of the i-th rechargeable car and +.>；/>Representing the electric quantity of the jth rechargeable automobile; i represents an ith branch charging pile; j represents a leg charging stake adjacent to the i-th leg charging stake.
Step 9, redesigning the reference input voltage of the branch charging power controller, and based on the step 2, attaching the output power change of the electric automobile to the reference voltage of the branch charging pileThe reference voltages at this time are:
（13）
wherein the method comprises the steps ofRepresenting an input reference voltage of the branch charging pile; />Representing a reference value after voltage adjustment of the distributed voltage observer; />Representing an input current flowing from the charging pile system to the ith charging power controller; />Representing a sag factor; />The reference voltage offset representing the ith charge rate offset factor. />As an additional influence factor for influencing the reference voltage, the PI controller passing through the voltage loop can be added to the reference current, and as can be seen from the formula (9), the reference current is actually the negative derivative of the battery model of the rechargeable car, and the influence factor in the formula (13) can automatically satisfy the consistency algorithm of the formula (10) after passing through the PI controller of the voltage loop, so that the following step is added>The algorithm can enable the battery capacity of the electric vehicles of each branch charging pile node to tend to the same value, operators sharing the electric vehicles are convenient to conduct batch charging operation on the electric vehicles with different electric quantities, and a simulation result diagram is shown in fig. 4. The distributed voltage observer (see formula 4) and the voltage recovery method (see formula 3) adopted by the invention can lead the value of the observer to approach to the set value, as shown in figure 6, and the actual value of each branch charging pile is influenced by different line resistancesDeviations within a reasonable range occur around the set point as shown in fig. 5. Meanwhile, the power consumed on the line impedance can be reduced, so that each branch charging pile can charge by more reasonably utilizing electric energy, as shown in fig. 7.
Claims (8)
1. An electric automobile charging method based on a shared electric automobile operator is characterized by comprising the following steps of: the electric vehicle charging method based on the shared electric vehicle operator comprises the following steps:
1) Acquiring input current flowing to a branch charging pile from a charging pile system;
2) Obtaining input reference voltage of the branch charging pile according to the obtained input current flowing to the branch charging pile by the charging pile system in the step 1);
3) Acquiring a reference voltage offset of the electric automobile in the charging process;
4) Correcting the input reference voltage of the branch charging pile obtained in the step 2) according to the reference voltage offset of the electric automobile obtained in the step 3) in the charging process, and obtaining the injection voltage of the branch charging pile for charging the electric automobile;
5) And charging the electric vehicles with different residual electric quantities according to the injection voltage of the branch charging piles for charging the electric vehicles.
2. The electric vehicle charging method based on the shared electric vehicle operator according to claim 1, characterized in that: the expression of the input current flowing from the charging pile system to the branch charging pile in the step 1) is as follows:
，
wherein:representing an input current flowing from the charging pile system to the ith charging power controller; />Representing the input voltage of the branch charging pile; />Representing an output voltage of the charging pile system; />Representing the leg impedance of the i-th leg of the charging leg system.
3. The electric vehicle charging method based on the shared electric vehicle operator according to claim 2, characterized in that: the specific implementation manner of the step 2) is as follows:
2.1 A distributed voltage observer of the charging pile system is constructed; the distributed voltage observer of the charging pile system comprises distributed voltage observers of a plurality of branch charging piles;
2.2 Obtaining a reference value after voltage adjustment of the distributed voltage observer according to the distributed voltage observer of the branch charging pile；
2.3 A) obtaining the reference value according to step 2.2)And step 1) obtaining the input reference voltage of the branch charging pile by the obtained input current flowing to the branch charging pile by the charging pile system.
4. The electric vehicle charging method based on the shared electric vehicle operator according to claim 3, wherein: the expression of the distributed voltage observer of the branch charging pile in the step 2.1) is as follows:
，
wherein:representing a set of frequency domains of each distributed voltage observer within the charging pile system, said +.>The expression of (2) is:
，Tis a transpose of the matrix; for->Any element in (B) is
S is a pulling type conversion factor of a frequency domain of the voltage observed by the distributed voltage observer, i is more than or equal to 1 and less than or equal to M, and j is more than or equal to 1 and less than or equal to M;
the expression of the voltage observed by the distributed voltage observer in consideration of communication delay is as follows:，
wherein:representing the input voltage of the branch charging pile; />Is the input voltage of the charging power controller in the branch charging pile observed on the ith distributed voltage observer; />Representing the communication time delay between the charging piles of different branches; t represents time;
representing the actual input voltage of each branch charging pile in the charging pile system, said +.>The expression of (2) is:；
representing a Laplacian matrix with a time delay, said +.>The expression of (2) is: />For each element in the Laplace matrix, +.>Representing the communication weight, is generally set to be 1, and when the ith branch charging pile and the jth branch charging pile have a communication relationship>Otherwise->；
An integration element representing the time delay, said +.>The expression of (2) is: />For->Any one element is expressed as->。
5. The electric vehicle charging method based on the shared electric vehicle operator according to claim 4, wherein: the reference value after the voltage adjustment of the distributed voltage observer in the step 2.2)The expression of (2) is:
，
wherein:representing the voltage value set by the branch charging pile; />Representing the input voltage of the charge power controller in the branch charge pile observed on the i-th distributed voltage observer.
6. The electric vehicle charging method based on the shared electric vehicle operator according to claim 5, wherein: when the branch charging pile in the step 2.3) charges the electric automobile, the expression of the input reference voltage of the charging power controller is as follows:
，
wherein:input reference voltage representing branch charging pile；/>Representing a reference value after the distributed voltage observer voltage adjustment; />Representing the sag factor.
7. The electric vehicle charging method based on the shared electric vehicle operator according to claim 6, wherein: the expression of the reference voltage offset of the electric automobile in the step 3) in the charging process is as follows:
，
wherein:a reference voltage offset representing an ith charge speed offset factor; />Representing the weight of the communication matrix;represents the electric quantity of the i-th rechargeable car and +.>；/>Representing the electric quantity of the jth rechargeable automobile; i represents an ith branch charging pile; />A set of communication networks representing a communication relationship with an ith charged car; j represents a branch charging stake adjacent to the ith branch charging stake;
wherein the method comprises the steps of：The expression of (2) is: />，
Wherein:representing the initial electric quantity of the ith charging automobile; />Representing the current flowing from the i-th branch charging pile to the charging car; />Representing the battery capacity of the ith charged car; />Indicating the ith leg charge stake.
8. The electric vehicle charging method based on the shared electric vehicle operator according to claim 7, wherein: the expression of the injection voltage for charging the electric automobile by the corrected branch charging pile in the step 4) is as follows:
，
wherein:representing an input reference voltage of the branch charging pile; />Representing a reference value after voltage adjustment of the distributed voltage observer; />Representing an input current flowing from the charging pile system to the ith charging power controller; />Representing a sag factor;the reference voltage offset representing the ith charge rate offset factor.
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